Model predictive control for compliant feed drives with offset-free tracking behavior

Abstract Industrial machine tool feed drives are predominantly controlled by cascade control due to their low tuning complexity and inherent robustness. However, the cascaded structure requires inner cascades have higher dynamics than outer cascades, which limits achievable dynamic accuracy. Direct approaches, substitute position velocity cascade, offer potential utilize unused potential. A promising approach is model predictive (MPC), optimizes manipulated variable with a plant along prediction horizon. uncertainties between nominal real lead tracking errors. Therefore, this paper presents, linear MPC (LMPC) an adaptive (AMPC) additional integral action robustly compensate for mismatches. Both controllers use compliant model, real-time capable sample rate of $${{2}\,\textrm{kHz}}$$ 2 kHz consider state input space constraints. The AMPC accounts position-varying stiffness friction. experimentally compared classical P-PI on ball screw drive. They show error reduction $${{37}{\,\%}}$$ 37 % $${{44}{\,\%}}$$ 44 during high speed motion profile increase in bandwidth $${{180}{\,\%}}$$ 180 $${{184}{\,\%}}$$ 184 (AMPC), resulting significantly improved